Fallback requests for autonomous vehicles

ABSTRACT

Aspects of the present disclosure relate to a system having a memory, a plurality of self-driving systems for controlling a vehicle, and one or more processors. The processors are configured to receive at least one fallback task in association with a request for a primary task and at least one trigger of each fallback task. Each trigger is a set of conditions that, when satisfied, indicate when a vehicle requires attention for proper operation. The processors are also configured to send instructions to the self-driving systems to execute the primary task and receive status updates from the self-driving systems. The processors are configured to determine that a set of conditions of a trigger is satisfied based on the status updates and send further instructions based on the associated fallback task to the self-driving systems.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 17/009,151, filed Sep. 1, 2020, which is a continuation of U.S.patent application Ser. No. 16/412,944, filed May 15, 2019, now U.S.Pat. No. 10,796,581, which is a continuation of U.S. patent applicationSer. No. 15/153,117, filed May 12, 2016, now U.S. Pat. No. 10,475,345,which application is a continuation of U.S. patent application Ser. No.14/721,604, filed May 26, 2015, now U.S. Pat. No. 9,368,026, issued onJun. 14, 2016, the disclosures of which are incorporated herein byreference.

BACKGROUND OF THE INVENTION

Autonomous vehicles, such as vehicles that do not require a humandriver, can be used to aid in the transport of passengers or items fromone location to another. Such vehicles may operate in a fully autonomousmode where passengers may provide some initial input, such as adestination, and the vehicle maneuvers itself to that destination.

BRIEF SUMMARY OF THE INVENTION

One aspect of the disclosure provides a system. The system includes amemory, a plurality of self-driving systems for controlling a vehicle,and one or more processors. The one or more processors are configured toreceive at least one fallback task in association with a request for aprimary task and at least one trigger of each fallback task, eachtrigger being a set of conditions that, when satisfied, indicate when avehicle requires attention for proper operation; send a first set ofinstructions to one or more self-driving systems to execute the primarytask; receive status updates from the self-driving systems; determinethat a set of conditions of a trigger is satisfied based at least inpart on the status updates; and send a second set of instructions to oneor more self-driving systems based on the fallback task associated withthe trigger.

In one example, each set of conditions is different for each trigger. Inthe same example, the one or more processors are also configured todetermine that a set of conditions of a trigger has been satisfied. Inanother example, a base location is hardcoded on the memory, and the oneor more processors are also configured to determine that the fallbacktask associated with the trigger is non-executable and update thefallback task to be driving to the base location.

In yet another example, the one or more processors are also configuredto send a status update report based on the status update from theself-driving systems, receive at least one updated fallback task, andstore the at least one updated fallback task in the memory. In thisexample, the one or more processors are also configured to update atleast one fallback task based on the at least one updated fallback task.

In a further example, the one or more processors are also configured todetermine that the set of conditions of the trigger are no longersatisfied; and, when one or more conditions of the trigger aredetermined to no longer be satisfied, send a third set of instructionsto one or more self-driving systems to autonomously resume the primarytask. In yet another example, the one or more processors are alsoconfigured to determine a level of urgency of the trigger, the level ofurgency being related to how quickly the fallback task associated withthe trigger is executed after the set of conditions of the trigger issatisfied; and send the second set of instructions before the primarytask is completed when the level of urgency of the trigger is a certainlevel.

In another example, the second set of instructions includes instructionsthat cause the self-driving systems to stop executing the primary task.In a further example, the one or more processors are also configured todetermine which fallback task is associated with the trigger byaccessing a mapping of each trigger to corresponding fallback tasks. Inyet another example, the system also includes the vehicle. In thisexample, the vehicle will not start if a base location is not stored onthe memory.

Another aspect of the disclosure provides a fleet management system. Thefleet management system includes a server configured to receive updatesregarding the status of a plurality of vehicles capable of autonomouslydriving; and send a dispatch command to one of the vehicles, thedispatch command including a request for a primary task, at least onefallback task, and at least one trigger of each fallback task, eachtrigger being a set of conditions that, when satisfied, indicate when avehicle requires attention for proper operation.

In one example, the server is also configured to send at least oneupdated fallback task in response to the received updates. In anotherexample, the dispatch command also includes a level of urgency for eachtrigger, the level of urgency being related to how quickly the fallbacktask associated with the trigger is executed after the set of conditionsof the trigger is satisfied.

In a further example, the server is also configured to determine one ormore fallback locations that one of the vehicles may drive to whenexecuting at least one fallback task. In this example, the dispatchcommand also includes the one or more fallback locations. In anotherexample, the system also includes the plurality of vehicles capable ofautonomously driving.

Yet another aspect of the disclosure provides a system. The systemincludes a plurality of self-driving systems for controlling a vehicle,one or more processors, and a memory. The memory includes a trip managermodule comprising instructions that, when executed, cause the one ormore processors to send a first set of instructions to one or moreself-driving systems to execute a primary task, and send a second set ofinstructions to one or more self-driving systems to execute a fallbacktask associated with a trigger, the trigger being a set of conditionsthat, when satisfied, indicate when a vehicle requires attention forproper operation. The memory also includes a task overseer modulecomprising instructions that, when executed, cause the one or moreprocessors to receive vehicle status updates from the trip managermodule, determine that the set of conditions of a trigger is satisfiedbased on a current vehicle status received from the trip manager module,and send information to the trip manager module based on the fallbacktask associated with the set of conditions of the trigger that issatisfied.

In one example, the task overseer module also includes instructionsthat, when executed, cause the one or more processors to determine alevel of urgency of the trigger, the level of urgency being related tohow quickly the fallback task associated with the trigger is executedafter the set of conditions of the trigger is satisfied, wherein theindication includes the level of urgency. In this example, the tripmanager module also includes instructions that, when executed, cause theone or more processors to send the second set of instructions withinstructions to stop executing the primary task.

In another example, the task overseer module also includes instructionsthat, when executed, cause the one or more processors to determine whichfallback task is associated with the trigger by accessing a mapping ofeach trigger to corresponding fallback tasks. In yet another example,the system also includes the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a functional diagram of an example vehicle in accordance withan exemplary embodiment.

FIG. 2 is a functional diagram of an example system in accordance withan exemplary embodiment.

FIG. 3 is a pictorial diagram of the system of FIG. 2 in accordance withaspects of the disclosure.

FIG. 4 is an example map in accordance with aspects of the disclosure.

FIG. 5 is an example diagram in accordance with aspects of thedisclosure.

FIG. 6 is an example bird's eye view of a geographic area in accordancewith aspects of the disclosure.

FIG. 7 is another example bird's eye view of a geographic area inaccordance with aspects of the disclosure.

FIG. 8 is another example diagram in accordance with aspects of thedisclosure.

FIG. 9 is a further example diagram in accordance with aspects of thedisclosure.

FIG. 10 is an example flow diagram in accordance with aspects of thedisclosure.

DETAILED DESCRIPTION Overview

The technology relates to an autonomous vehicle for autonomously settingand executing fallback requests. Fallback tasks may include tasks thatthe vehicle's computers may perform in the event the autonomous vehiclecannot operate normally. For example, some fallback tasks may involvesafely coming to a quick stop, especially in the case of emergencysituations such as if there is a vehicle malfunction or an accident.Other fallback tasks involve driving for an extended period of time toanother location that is either preset or determined based on a statusof the vehicle. These types of fallback tasks are useful in situationssuch as when the vehicle is low on fuel/energy, detects slight sensordegradation, loses connection to a fleet management server, or forwhatever reason lacks any specific executable instructions as to what todo next after completing any other higher priority tasks. In thesesituations, the vehicle is still capable of safely driving for a lengthof time and therefore capable of executing fallback tasks involvingcontinued driving. Having the vehicle drive itself to a place to getserviced or resume connection is preferable to stopping in a locationwhere someone would have to travel to the vehicle's stopped location inorder to service or retrieve the vehicle.

A computing device in an autonomous vehicle may contain instructions fordiscrete tasks. Instructions for a particular task may form a singlemodule. There may be a trip manager module that may contain instructionsfor navigating and maneuvering the vehicle between locations. There mayalso be a task overseer module that may contain instructions forprocessing received task requests. The task overseer module may alsocontain instructions for determining when tasks should be performed inrelation to one another; in other words, managing a task queue. Inaddition, the task overseer module may include a sub-module dedicated tomanaging fallback tasks, the fallback selector module. The fallbackselector module may contain instructions for processing receivedfallback tasks and determining which fallback task to execute and when.

A remote dispatching system may send information for one or morefallback tasks to a vehicle in response to, along with, or independentfrom a passenger-related or non-passenger task request.Passenger-related task requests, or trip requests, may provideinformation such as a pickup location and a destination location for thetrip. Non-passenger tasks may include pre-positioning,refueling/recharging, parking, going for maintenance, circling theblock, and updating software. The fallback selector module may receiveand process the fallback task. In some examples, as shown in FIG. 5,every passenger-related or non-passenger task request is sent withfallback instructions that may cause the vehicle to perform a fallbacktask if the vehicle for whatever reason cannot complete thepassenger-related or non-passenger task.

The passenger-related or non-passenger tasks may be initiated by a uservia a client computing device. The user may send information for apassenger-related or non-passenger task to the dispatching system. Thedispatching system may then send the task request to the to thevehicle's computing devices, where it is received and processed by thetask overseer module. One or more fallback tasks may be sent to thevehicle's computing devices in association with the task request.Fallback tasks are tasks that are performed under specific conditions,usually exigent conditions such as when the autonomous vehicle cannotoperate normally. The received passenger-related or non-passenger tasksmay then be stored by the task overseer module in a queue in one or morecomputing devices in the vehicle, and the received fallback tasks may bestored separately in the memory by the fallback selector module.

For example, fallback information regarding a base location, or alocation for the vehicle to travel to when no other fallbacks tasks canbe executed, may be sent to the system from a user computing device. Theinformation may then be forwarded to the vehicle. Alternatively, aserver in the system may determine and send information for a fallbacktask to the vehicle without receiving any user input. For example, theserver may determine that maintenance is needed for a degraded sensorand may also determine the closest maintenance depot that can fix thesensor based on the current location of the vehicle and map data.

Fallback instructions may include certain information depending on thenature of a fallback task. For example, for tasks that involve drivingto a type of location, such as a charging station or maintenance garage,the location or region may be specified in the fallback instructions.Information, such as the destination location of a driving task, may bedetermined by the vehicle's computing device, or hardcoded on thevehicle's computing device. In some examples, there may be multiplelocations hardcoded into the vehicle, and the vehicle's computing devicemay determine which of the multiple locations to travel to afterfactoring in proximity, services offered, load level, and otherconsiderations. In addition, for tasks that require actions other thandriving and parking, such as interaction with an outside system, theinstructions may also include action-specific details likeauthentication information for fueling systems or maintenance depots.

Fallback instructions may also include one or more triggers. A triggermay include one or more conditions that, when satisfied, indicate thatthe vehicle should execute the fallback task. Conditions may include,for example, the vehicle's fuel or energy level meeting a predeterminedthreshold, the connection between the vehicle's computing device and theserver of the fleet management device being lost, the vehicle's taskqueue being empty, and a regular maintenance being scheduled at aparticular time.

To determine when the condition or conditions of a particular triggerare met, the vehicle self-driving systems may transmit status updatesperiodically and/or continuously to the vehicle's computing device. Asan example, status updates may include information such as the fuellevel or other internal or external measurements from instruments orsensors of the vehicle. As shown in FIG. 5, the vehicle's computingdevice may use the status updates to determine that the one or moreconditions of the relevant trigger are met. For example, a fuelindicator may continually monitor the level of fuel in the tank. Thetask overseer module of the vehicle's computing device may set athreshold level for the amount of fuel based on the fuel economy of thevehicle, density of gas stations in the area, and other factors thatrepresents the amount of fuel likely needed to reach a nearby gasstation. The task overseer module of the vehicle's computing device maythen monitor the level of fuel and determine when it reaches thethreshold.

After the condition or conditions of a particular trigger are met, afallback task may be triggered, and the fallback selector module ofvehicle's computing device may send instructions to execute any fallbacktask or tasks corresponding to the particular trigger as shown in FIG.5. For example, when the fuel level reaches the threshold as defined asthe trigger, the fallback selector module may then send instructions toexecute the fallback task of driving to the nearest gas station. Thismay include determining the location of the nearest gas or chargingstation based on the current location of the vehicle and the shortestroute to that gas or charging station.

In some instances, autonomous vehicle may be performing another taskwhen a fallback task is triggered. In this regard, the fallbackinstructions of a particular fallback task that has been triggered mayinclude additional instructions for transitioning from the executing theother task to executing the particular fallback task. The additionalinstructions may also include an indication of whether the particularfallback task should be executed immediately, after the completion ofthe other task, or after some other specified task in the queue. Thisindication may be based on the urgency of the trigger or the importanceof the particular fallback task. A designation of a level of urgency ofthe trigger or a level of priority of the fallback task may be includedin the instructions. The level may be designated as high, intermediate,or low.

In some examples, when the vehicle is currently executing apassenger-related task, the fallback task may be executed after the tripis completed. As shown in FIG. 6, after dropping off a passenger andthus completing a passenger-related task, a vehicle may have no othertasks in the queue and no further instructions from the dispatchingsystem. In this situation, the vehicle may perform the fallback task ofparking nearby until further instructions are received. In anothersituation, shown in FIG. 7, a refueling fallback task may be triggeredwhile performing a passenger-related task, but still may be executedafter the completion of the passenger-related task. In this case, thevehicle's computing device may have determined that there was enoughfuel to reach the destination then travel to the nearest gas station.However, if the triggering action is urgent, the fallback selectormodule of the vehicle's computing device may send instructions to endthe trip prematurely, which may or may not include unloading thepassengers, and proceed to execute the fallback task. These situationsmay involve a problem with the vehicle that can prevent the vehicle fromcompleting the trip. Another autonomous vehicle may be sent to pick upthe passengers and complete the rest of the trip if they havedisembarked the vehicle.

If a fallback task cannot be executed because the fallback instructionsfor performing the fallback task are malformed or any other reason andhas not been replaced by another fallback task, the fallback selectormodule may send instructions to maneuver the autonomous vehicle to abase location when the fallback task with malformed or otherwisedefective instructions is triggered, as shown in FIG. 8. Alternatively,the vehicle may be driven to the base location when no other fallbackinstructions have been received. The address or location coordinates ofthe base location may be hardcoded into the vehicle. In some examples,the address or location coordinates of multiple base locations may behardcoded, allowing the fallback selector module of the vehicle'scomputing device to select and maneuver the vehicle to the closest ormost convenient base location depending on when the fallback task istriggered. In one example, the vehicle will not start if no baselocation has been set for the vehicle, guaranteeing that there is alocation for the vehicle to go to as a last resort whenever the vehicleis in operation, thus reducing the risk of an autonomous vehicle beingstranded.

If an autonomous vehicle cannot reach the location specified in thefallback instructions or the base location because of some externaland/or internal factors, the fallback selector module of the vehicle'scomputing device may then pull the vehicle over and send a message tothe dispatching system. The message may include the vehicle's locationand/or the list of external and/or internal factors.

In some situations, conditions may change such that the condition orconditions of a trigger of a current fallback task which the vehicle iscurrently performing are no longer met. The fallback selector module maydetermine whether this happens. When the condition or conditions are nolonger met, the vehicle may continue executing the current fallback taskor return to executing the regularly scheduled tasks in the task queueaccording to the additional instructions of the fallback task. Returningto execute a regularly scheduled task may mean performing a task thatmay have been interrupted by the current fallback task or a next task inthe queue.

Additionally or alternatively, the computing device may send statusupdate reports to the dispatching system. Based on the status updatereports, the dispatching system may send updated fallback instructionsto the autonomous vehicle, as shown in FIG. 9. The fallback selectormodule may replace the previously received fallback instructions withthe updated fallback task information. In some examples, the previouslysent fallback task may have been sent in conjunction with a taskrequest. However, in other examples, the updated fallback task may bestored in the vehicle's computing device along with the previously sentfallback task(s).

Example Systems

As shown in FIG. 1, a vehicle 100 in accordance with one aspect of thedisclosure includes various components. While certain aspects of thedisclosure are particularly useful in connection with specific types ofvehicles, the vehicle may be any type of vehicle including, but notlimited to, cars, trucks, motorcycles, buses, recreational vehicles,etc. The vehicle may have one or more computing devices, such ascomputing device 110 containing one or more processors 120, memory 130and other components typically present in general purpose computingdevices.

The memory 130 stores information accessible by the one or moreprocessors 120, including instructions 132 and data 138 that may beexecuted or otherwise used by the processor 120. The memory 130 may beof any type capable of storing information accessible by the processor,including a computing device-readable medium, or other medium thatstores data that may be read with the aid of an electronic device, suchas a hard-drive, memory card, ROM, RAM, DVD or other optical disks, aswell as other write-capable and read-only memories. Systems and methodsmay include different combinations of the foregoing, whereby differentportions of the instructions and data are stored on different types ofmedia.

The instructions 132 may be any set of instructions to be executeddirectly (such as machine code) or indirectly (such as scripts) by theprocessor. For example, the instructions may be stored as computingdevice code on the computing device-readable medium. In that regard, theterms “instructions” and “programs” may be used interchangeably herein.The instructions may be stored in object code format for directprocessing by the processor, or in any other computing device languageincluding scripts or collections of independent source code modules thatare interpreted on demand or compiled in advance. Functions, methods androutines of the instructions are explained in more detail below.

The instructions may include instructions for completing a particulartask. For example, a trip manager module 134 that may containinstructions for navigating and maneuvering the vehicle betweenlocations. There may also be a task overseer module 136 that may containinstructions for processing received task requests. The task overseermodule 136 may also contain instructions for determining when tasksshould be performed in relation to one another; in other words, managinga task queue. In addition, the task overseer module 136 may include asub-module dedicated to managing fallback tasks, the fallback selectormodule 137. The fallback selector module 137 may contain instructionsfor processing received fallback tasks and determining which fallbacktask to execute and when.

The data 138 may be retrieved, stored or modified by processor 120 inaccordance with the instructions 132. For instance, although the claimedsubject matter is not limited by any particular data structure, the datamay be stored in computing device registers, in a relational database asa table having a plurality of different fields and records, XMLdocuments or flat files. The data may also be formatted in any computingdevice-readable format.

The one or more processor 120 may be any conventional processors, suchas commercially available CPUs. Alternatively, the one or moreprocessors may be a dedicated device such as an ASIC or otherhardware-based processor. Although FIG. 1 functionally illustrates theprocessor, memory, and other elements of computing device 110 as beingwithin the same block, it will be understood by those of ordinary skillin the art that the processor, computing device, or memory may actuallyinclude multiple processors, computing devices, or memories that may ormay not be stored within the same physical housing. For example, memorymay be a hard drive or other storage media located in a housingdifferent from that of computing device 110. Accordingly, references toa processor or computing device will be understood to include referencesto a collection of processors or computing devices or memories that mayor may not operate in parallel.

Computing device 110 may include all of the components normally used inconnection with a computing device such as the processor and memorydescribed above as well as a user input 150 (e.g., a mouse, keyboard,touch screen and/or microphone) and various electronic displays (e.g., amonitor having a screen or any other electrical device that is operableto display information). In this example, the vehicle includes aninternal electronic display 152 as well as one or more speakers 154 toprovide information or audio visual experiences. In this regard,internal electronic display 152 may be located within a cabin of vehicle100 and may be used by computing device 110 to provide information topassengers within the vehicle 100.

Computing device 110 may also include one or more wireless networkconnections 154 to facilitate communication with other computingdevices, such as the client computing devices and server computingdevices described in detail below. The wireless network connections mayinclude short range communication protocols such as Bluetooth, Bluetoothlow energy (LE), cellular connections, as well as various configurationsand protocols including the Internet, World Wide Web, intranets, virtualprivate networks, wide area networks, local networks, private networksusing communication protocols proprietary to one or more companies,Ethernet, WiFi and HTTP, and various combinations of the foregoing.

In one example, computing device 110 may be an autonomous drivingcomputing system incorporated into vehicle 100. The autonomous drivingcomputing system may capable of communicating with various components ofthe vehicle. For example, returning to FIG. 1, computing device 110 maybe in communication with various systems of vehicle 100, such asdeceleration system 160, acceleration system 162, steering system 164,signaling system 166, navigation system 168, positioning system 170, anddetection system 172 in order to control the movement, speed, etc. ofvehicle 100 in accordance with the instructions 132 of memory 130.Again, although these systems are shown as external to computing device110, in actuality, these systems may also be incorporated into computingdevice 110, again as an autonomous driving computing system forcontrolling vehicle 100.

As an example, computing device 110 may interact with decelerationsystem 160 and acceleration system 162 in order to control the speed ofthe vehicle. Similarly, steering system 164 may be used by computer 110in order to control the direction of vehicle 100. For example, ifvehicle 100 is configured for use on a road, such as a car or truck, thesteering system may include components to control the angle of wheels toturn the vehicle. Signaling system 166 may be used by computing device110 in order to signal the vehicle's intent to other drivers orvehicles, for example, by lighting turn signals or brake lights whenneeded.

Navigation system 168 may be used by computing device 110 in order todetermine and follow a route to a location. In this regard, thenavigation system 168 and/or data 138 may store detailed mapinformation, e.g., highly detailed maps identifying the shape andelevation of roadways, lane lines, intersections, crosswalks, speedlimits, traffic signals, buildings, signs, real time trafficinformation, vegetation, or other such objects and information.

FIG. 4 is an example of a map 400. In this example, the map includes aplurality of different features that identify the shape and location ofvarious features such as lanes 410-416, intersections 420-426, buildings430-436, fueling station 438, parking spaces 440-446, a drivewayentrance (for example to a parking garage or other location) 450,shoulder areas 452-454, and no parking zone 456. Together, thesefeatures correspond to a single city block. The map 400 may be a part ofthe detailed maps described above and used by the various computingdevices of vehicle 100 in order to maneuver the vehicle 100.

Positioning system 170 may be used by computing device 110 in order todetermine the vehicle's relative or absolute position on a map or on theearth. For example, the position system 170 may include a GPS receiverto determine the device's latitude, longitude and/or altitude position.Other location systems such as laser-based localization systems,inertial-aided GPS, or camera-based localization may also be used toidentify the location of the vehicle. The location of the vehicle mayinclude an absolute geographical location, such as latitude, longitude,and altitude as well as relative location information, such as locationrelative to other cars immediately around it which can often bedetermined with less noise that absolute geographical location.

The positioning system 170 may also include other devices incommunication with computing device 110, such as an accelerometer,gyroscope or another direction/speed detection device to determine thedirection and speed of the vehicle or changes thereto. By way of exampleonly, an acceleration device may determine its pitch, yaw or roll (orchanges thereto) relative to the direction of gravity or a planeperpendicular thereto. The device may also track increases or decreasesin speed and the direction of such changes. The device's provision oflocation and orientation data as set forth herein may be providedautomatically to the computing device 110, other computing devices andcombinations of the foregoing.

The detection system 172 also includes one or more components fordetecting objects external to the vehicle such as other vehicles,obstacles in the roadway, traffic signals, signs, trees, etc. Forexample, the detection system 170 may include lasers, sonar, radar,cameras and/or any other detection devices that record data which may beprocessed by computing device 110. In the case where the vehicle is asmall passenger vehicle such as a car, the car may include a laser orother sensors mounted on the roof or other convenient location.

The computing device 110 may control the direction and speed of thevehicle by controlling various components. By way of example, computingdevice 110 may navigate the vehicle to a destination location completelyautonomously using data from the detailed map information and navigationsystem 168. Computing device 110 may use the positioning system 170 todetermine the vehicle's location and detection system 172 to detect andrespond to objects when needed to reach the location safely. In order todo so, computing device 110 may cause the vehicle to accelerate (e.g.,by increasing fuel or other energy provided to the engine byacceleration system 162), decelerate (e.g., by decreasing the fuelsupplied to the engine, changing gears, and/or by applying brakes bydeceleration system 160), change direction (e.g., by turning the frontor rear wheels of vehicle 100 by steering system 164), and signal suchchanges (e.g., by lighting turn signals of signaling system 166). Thus,the acceleration system 162 and deceleration system 162 may be a part ofa drivetrain that includes various components between an engine of thevehicle and the wheels of the vehicle. Again, by controlling thesesystems, computing device 110 may also control the drivetrain of thevehicle in order to maneuver the vehicle autonomously.

Computing device 110 of vehicle 100 may also receive or transferinformation to and from other computing devices. FIGS. 2 and 3 arepictorial and functional diagrams, respectively, of an example system200 that includes a plurality of computing devices 210, 220, 230, 240and a storage system 250 connected via a network 260. System 200 alsoincludes vehicle 100, and vehicle 100A which may be configured similarlyto vehicle 100. Although only a few vehicles and computing devices aredepicted for simplicity, a typical system may include significantlymore.

As shown in FIG. 3, each of computing devices 210, 220, 230, 240 mayinclude one or more processors, memory, data and instructions. Suchprocessors, memories, data and instructions may be configured similarlyto one or more processors 120, memory 130, instructions 132, and data138 of computing device 110.

The network 260, and intervening nodes, may include variousconfigurations and protocols including short range communicationprotocols such as Bluetooth, Bluetooth LE, the Internet, World Wide Web,intranets, virtual private networks, wide area networks, local networks,private networks using communication protocols proprietary to one ormore companies, Ethernet, WiFi and HTTP, and various combinations of theforegoing. Such communication may be facilitated by any device capableof transmitting data to and from other computing devices, such as modemsand wireless interfaces.

In one example, one or more computing devices 110 may include a serverhaving a plurality of computing devices, e.g., a load balanced serverfarm, that exchange information with different nodes of a network forthe purpose of receiving, processing and transmitting the data to andfrom other computing devices. For instance, one or more computingdevices 210 may include one or more server computing devices that arecapable of communicating with computing device 110 of vehicle 100 or asimilar computing device of vehicle 100A as well as computing devices220, 230, 240 via the network 260. For example, vehicles 100 and 100Amay be a part of a fleet of vehicles that can be dispatched by one ormore server computing devices to various locations. In this regard, thevehicles of the fleet may periodically send the one or more servercomputing devices location information provided by the vehicle'srespective positioning systems and the one or more server computingdevices may track the locations of the vehicles.

In addition, one or more server computing devices 210 may use network260 to transmit and present information to a user, such as user 222,232, 242 on a display, such as displays 224, 234, 242 of computingdevices 220, 230, 240. In this regard, computing devices 220, 230, 240may be considered client computing devices.

As shown in FIG. 3, each client computing device 220, 230, 240 may be apersonal computing device intended for use by a user 222, 232, 242, andhave all of the components normally used in connection with a personalcomputing device including a one or more processors (e.g., a centralprocessing unit (CPU)), memory (e.g., RAM and internal hard drives)storing data and instructions, a display such as displays 224, 234, 244(e.g., a monitor having a screen, a touch-screen, a projector, atelevision, or other device that is operable to display information),and user input devices 226, 236, 246 (e.g., a mouse, keyboard, touchscreen or microphone). The client computing devices may also include acamera for recording video streams, speakers, a network interfacedevice, and all of the components used for connecting these elements toone another.

In addition, the client computing devices 220 and 230 may also includecomponents 228 and 238 for determining the position and orientation ofclient computing devices. For example, these components may include aGPS receiver to determine the device's latitude, longitude and/oraltitude as well as an accelerometer, gyroscope or anotherdirection/speed detection device as described above with regard topositioning system 170 of vehicle 100.

Although the client computing devices 220, 230, and 240 may eachcomprise a full-sized personal computing device, they may alternativelycomprise mobile computing devices capable of wirelessly exchanging datawith a server over a network such as the Internet. By way of exampleonly, client computing device 220 may be a mobile phone or a device suchas a wireless-enabled PDA, a tablet PC, a wearable computing device orsystem, or a netbook that is capable of obtaining information via theInternet or other networks. In another example, client computing device230 may be a wearable computing system, shown as a head-mountedcomputing system in FIG. 2. As an example the user may input informationusing a small keyboard, a keypad, microphone, using visual signals witha camera, or a touch screen.

In some examples, client computing device 240 may be a concierge workstation used by an administrator to provide concierge services to userssuch as users 222 and 232. For example, a concierge 242 may use theconcierge work station 240 to communicate via a telephone call or audioconnection with users through their respective client computing devicesor vehicles 100 or 100A in order to facilitate the safe operation ofvehicles 100 and 100A and the safety of the users as described infurther detail below. Although only a single concierge work station 240is shown in FIGS. 2 and 3, any number of such work stations may beincluded in a typical system.

Storage system 250 may store various types of information as describedin more detail below. This information may be retrieved or otherwiseaccessed by a one or more server computing devices, such as one or moreserver computing devices 210, in order to perform some or all of thefeatures described herein. For example, the information may includerouting data for generating and evaluating routes between locations. Therouting information may be used to estimate how long it would take avehicle at a first location to reach a second location. In this regard,the routing information may include map information, not necessarily asparticular as the detailed map information described above, butincluding roads, as well as information about those road such asdirection (one way, two way, etc.), orientation (North, South, etc.),speed limits, as well as traffic information identifying expectedtraffic conditions, etc. The information may also include a task queue,various tasks, and information associated with the tasks. Tasks may bepassenger-related tasks, non-passenger tasks, fallback tasks, and thelike.

As with memory 130, storage system 250 can be of any type ofcomputerized storage capable of storing information accessible by theone or more server computing devices 210, such as a hard-drive, memorycard, ROM, RAM, DVD, CD-ROM, write-capable, and read-only memories. Inaddition, storage system 250 may include a distributed storage systemwhere data is stored on a plurality of different storage devices whichmay be physically located at the same or different geographic locations.Storage system 150 may be connected to the computing devices via thenetwork 260 as shown in FIG. 2 and/or may be directly connected to orincorporated into any of the computing devices 110, 210, 220, 230, 240,etc.

In addition to the operations described above and illustrated in thefigures, various operations will now be described. It should beunderstood that the following operations do not have to be performed inthe precise order described below. Rather, various steps can be handledin a different order or simultaneously, and steps may also be added oromitted.

Example Methods

In one aspect, a user may download an application for requesting avehicle to a client computing device. For example, users 222 and 232 maydownload the application via a link in an email, directly from awebsite, or an application store to client computing devices 220 and230. For example, the client computing device may transmit a request forthe application over the network, for example, to one or more servercomputing devices 210, and in response, receive the application. Theapplication may be installed locally at the client computing device.

The user may then use his or her client computing device to access theapplication and request a vehicle. For example, a user such as user 232may use client computing device 230 to send a request to one or moreserver computing devices 210 for a vehicle. This request for a vehiclemay be a task request as shown in step 510 in FIG. 5. As an example, therequest may be a passenger-related task, or a trip request, thatprovides information such as a pickup location and a destinationlocation for a trip. As an example, such location may be identified bystreet addresses, location coordinates, points of interest, etc. Forexample, map 400 also includes a map pointer 470 corresponding to adestination location D for user 232 and/or client device 230. Asdiscussed below, the vehicle's computing device 110 may then maneuverthe vehicle towards the destination location D.

Once the vehicle 100 receives the information dispatching the vehicle tothe user from the one or more server computing devices, the vehicle'scomputing device 110 may use the map 400 to identify the destinationlocation relative to the current location of the vehicle.

In response to receiving the task request, the one or more servercomputing devices 210 may identify and dispatch, for example based onavailability and location, a vehicle to the pickup location. Thisdispatching may involve sending to the vehicle a passenger-related taskrequest identifying the user (and/or the user's client device), thepickup location, and the destination location or area.

In addition to a passenger-related task request or as an alternative,the one or more server computing devices 210 may send one or morenon-passenger task requests to the vehicle's computing device 110.Non-passenger task requests may include instructions to execute anon-passenger task. Non-passenger tasks may include pre-positioning,refueling/recharging, parking, going for maintenance, circling theblock, and updating software.

The tasks of any received passenger-related or non-passenger taskrequests may be stored by the task overseer module 136 of the vehicle'scomputing device 110 in a queue in one or more computing devices in thevehicle. As shown in step 530, when a task request reaches the top ofthe queue, task request instructions may be sent to the vehicleself-driving systems 160-172 to cause one or more of the systems toperform the task included in the task request.

The one or more server computing devices 210 may also send informationfor one or more fallback tasks to a vehicle's computing device 110 inresponse to and/or along with a passenger-related as shown in step 520.A fallback task request may include instructions to execute a fallbacktask that the vehicle should perform when the vehicle for whateverreason cannot complete a passenger-related or non-passenger taskassociated with the fallback task. In this regard, each fallback taskmay be associated with at least one non-passenger or passenger-relatedtask. The tasks of any received fallback tasks may be stored separatelyfrom the queue, for example, in the memory by the fallback selectormodule 137.

As noted above fallback task may include fallback instructions forperforming a fallback task. The nature of the instructions may depend onthe nature of a fallback task. For example, for tasks that involvedriving to a type of location, such as a charging station or maintenancegarage, the location or region may be specified in the fallbackinstructions. Information may be sent to the vehicle's computing device110 via the user computing device 220, determined by the vehicle'scomputing device 110, or hardcoded on the vehicle's computing device110. In some examples, multiple locations may be hardcoded into thevehicle 100, and the vehicle's computing device 110 may determine whichof the multiple locations to travel to after considering relevantfactors, such as proximity, services offered, load level, and otherconsiderations. In addition, for tasks that require actions other thandriving and parking, such as interaction with an outside system, theinstructions may also include action-specific details likeauthentication information for fueling systems or maintenance depots.

As an example, fallback instructions may identify a base location. Abase location may include a location for a vehicle to travel to when noother fallback tasks can be executed. The base location may be sent tothe one or more server computing devices 210 from a concierge workstation 240. The information may be forwarded from the one or moreserver computing devices 210 to the vehicle's computing device 110. Inanother example, the one or more server computing devices 220 maydetermine that maintenance is needed for a degraded sensor and may alsodetermine the closest maintenance depot that can fix the sensor based onthe current location of the vehicle and map data.

Fallback instructions may also include one or more triggers thatindicate when a fallback task should be executed. Each trigger mayinclude one or more conditions that, when satisfied, indicate that thevehicle should execute an associated fallback task. Conditions mayinclude, for example, the vehicle's fuel or energy level meeting apredetermined threshold, such as 10%; the connection between thevehicle's computing device and the server of the fleet management devicebeing lost for a set amount of time, such as a minute; the vehicle'stask queue being empty; and the time being a set interval before when aregular maintenance is scheduled, such as 30 minutes.

To determine when the condition or conditions of a particular triggerare met, the vehicle self-driving systems 160-172 may transmit statusupdates, as shown in step 540. These updates may be sent periodicallyand/or continuously to the vehicle's computing device 110. As anexample, the status updates may include information such as the fuellevel or other internal or external measurements from instruments orsensors of the vehicle. Based on the received status updates at 540, thevehicle's computing device 110 may determine that the one or moreconditions of a trigger are met at step 550. For example, a fuelindicator may continually monitor the level of fuel in the tank. Thetask overseer module 136 of the vehicle's computing device 110 may set athreshold level for the amount of fuel based on the fuel economy of thevehicle, density of gas stations in the area, and other factors thatrepresents the amount of fuel likely needed to reach a nearby gasstation. The threshold may be 10% or more or less. The task overseermodule 136 of the vehicle's computing device 110 may then monitor thestatus of the level of fuel from the updates from the vehicleself-driving systems 160-172 and determine when the fuel has reached theset threshold, such as 10%.

After the condition or conditions of a particular trigger are met, thefallback task corresponding to the trigger may be initiated by sendinginstructions to execute the fallback task to the vehicle self-drivingsystems 160-172, as shown at step 560. For example, when the fuel levelreaches the threshold as defined as the trigger, such as 10%, thefallback selector module 137 may then send instructions to execute thefallback task of driving to the nearest gas or charging station. Thismay include determining the location of the nearest gas or chargingstation based on the current location of the vehicle 100 and theshortest route to that gas or charging station.

Depending on the urgency of a trigger, the fallback task may be executedimmediately and therefore interrupting the current task, after thecompletion of the current task, or after some other task in the queue.Therefore the indication of when a fallback task may be executed may bein the form of a designation of a level of urgency of the trigger. Thelevel of urgency for a given trigger may be set by a human operator. Insome examples, the level of urgency may be designated as high,intermediate, or low.

When the level of urgency of the trigger is low, the fallback task maybe executed after the task queue has been cleared of all tasks.

A fallback task having a trigger with a low level of urgency may betriggered when the queue is empty of other tasks. For example, afterdropping off a passenger and thus completing a passenger-related task,the vehicle 100 may have no other tasks (passenger-related ornon-passenger) in the queue. At this time, the vehicle 100 may performthe fallback task received with the passenger-related task. One exampleof a fallback task having a low level of urgency may include parkingnearby and waiting for further instructions and will be described withregard to FIG. 6.

FIG. 6 is an example of a bird's eye view 600 of a geographic area 602corresponding to the area of map 400. In this example, the geographicalarea includes various features such as lanes 610-616, intersections620-626, buildings 630-636, fueling station 638, parking spaces 640-646,a driveway entrance (for example to a parking garage or other location)650, shoulder areas 652-654, and no parking zone 656 that correspond toeach of lanes 410-416, intersections 420-426, buildings 430-436, fuelingstation 438, parking spaces 440-446, a driveway entrance (for example toa parking garage or other location) 450, shoulder areas 452-454, and noparking zone 456 of the map 400. In this example, map pin 670 is forreference only and identifies the physical location of destinationlocation D.

After dropping off passengers at destination location D, the vehicle 100may have nothing next in the task queue. This may trigger the fallbacktask to park nearby and wait for further instructions. In this example,vehicle 100 may determine that parking spaces 640 and 642 are occupied.Vehicle 100 may then drive to lane 614 where parking spaces 644 and 646are and park at location 620 in vacant parking space 644.

A fallback task having a trigger with an intermediate level of urgencymay be triggered after the completion of any passenger-related tasks inthe queue, but before any non-passenger related tasks still in the queueare performed. A trigger having an intermediate level of urgency mayinclude the fuel level of vehicle 100 reaching 10% or lower. When thisoccurs, a fallback task of recharging or refueling may be triggered.

As shown in FIG. 7, after the fallback task of refueling is triggered,the vehicle's computing device 110 may determine that there is enoughfuel to complete the current passenger-related task, which ends atdestination location D, and then drive to fueling station 638. As aresult, the fallback task of refueling is executed after droppingpassengers off at destination D. The vehicle's computing device 110 maythen send instructions to the vehicle self-driving systems 160-172 todrive to fueling station 638.

A fallback task having a trigger with a high level of urgency may beexecuted immediately, interrupting any passenger-related ornon-passenger task. For example, when the level of urgency of thetrigger is high, the fallback selector module 137 of the vehicle'scomputing device 110 may send instructions to end a trip prematurely andproceed to execute the fallback task. A trigger having a high level ofurgency may include when there is a problem with the vehicle 100 thatcan prevent the vehicle 100 from completing a trip. By way of example, atrigger based on the condition of detecting a flat tire would have ahigh level of urgency because the vehicle 100 may not be able to drivevery far on a flat tire. This may thus trigger the fallback task ofdriving to the nearest maintenance garage.

In the event that a fallback task is triggered, but cannot be executed,the fallback selector module 137 may send instructions to maneuver theautonomous vehicle 100 to a base location, as shown in FIG. 8. Reasonsthat a fallback task cannot be executed may be that the fallbackinstructions for performing the fallback task are malformed, thefallback instructions cannot be performed on the type of vehicle towhich they were sent, or some other reason. Alternatively, the vehicle100 may be driven to the base location when no other fallbackinstructions have been received and the queue is empty.

Turning to FIG. 8, the task request, fallback instructions, task requestinstructions, and status updates may be transmitted and received asdescribed before in FIG. 5. However, after step 550, when the vehicle'scomputing device 110 detects the trigger conditions, the vehicle'scomputing device 110 may determine that the fallback instructions aremalformed, or for whatever reason cannot be executed by the vehicle 100at step 860. The vehicle's computing device 110 may then sendinstructions to the vehicle self-driving systems 160-172 to drive to adesignated base location at step 870, and not to execute the fallbacktask as before.

The address or location coordinates of the base location may behardcoded into the vehicle. In some examples, the address or locationcoordinates of multiple base locations may be hardcoded, allowing thefallback selector module 137 of the vehicle's computing device 110 toselect and maneuver the vehicle 100 to the closest or most convenientbase location depending on when the fallback task is triggered. In oneexample, the vehicle 100 will not start if no base location has been setfor the vehicle, guaranteeing that there is a location for the vehicle100 to go to as a last resort whenever the vehicle 100 is in operation,thus reducing the risk of an autonomous vehicle being stranded.

In a situation in which the vehicle 100 may not be able to drive veryfar, the vehicle 100 may pull over to the side of the road and signalfor help. This option may be taken if an autonomous vehicle cannot reachthe location specified in the fallback instructions or the base locationbecause of some external and/or internal factors. The fallback selectormodule 137 of the vehicle's computing device 110 may send instructionsto the vehicle self-driving systems 160-172 to pull over and send amessage to the one or more server computing devices 210. The message mayinclude the vehicle's location and/or the list of external and/orinternal factors.

In some examples, if conditions change such that the condition orconditions of a trigger of a fallback task being currently performed areno longer met, the vehicle may stop executing the fallback task. Thisdetermination may be made by the fallback selector module 137. Afterwhich, the vehicle may return to executing an interrupted task orexecute the next task in the task queue. Alternatively, the vehicle maycomplete the fallback task before resuming normal operation.

Additionally or alternatively, status update reports may be sent to theone or more server computing devices 210, as shown in FIG. 9. The taskrequest, fallback instructions, and status updates may be transmittedand received as described before. After receiving the status updates atstep 540, the vehicle's computing device 110 may then send status updatereports to the one or more server computing devices 210 at step 950.This may occur after each receipt of a status update or may be lessfrequent. At step 960, based on the status update reports, the one ormore server computing devices 210 may send updated fallback instructionsto the vehicle's computing device 110. The fallback selector module 137in the vehicle's computing device 110 may replace the previouslyreceived fallback instructions with the updated fallback taskinformation. In other examples, the updated fallback task may be storedin the vehicle's computing device along with the previously sentfallback task(s).

In an alternate embodiment, instructions for a set of fallback tasks maybe sent to vehicle 100. As with the examples above, each fallback taskmay be associated with a particular trigger. The instructions may alsoinclude a mapping of each trigger to the corresponding fallback task.The fallback selector module 137 may receive and store the mappinglocally at the autonomous vehicle 100. Therefore, when the condition orconditions of a trigger occur, the fallback selector module 137 may lookup the corresponding fallback task to execute on the mapping. Themapping may also include specifications of a level of urgency of eachtrigger. When looking up the fallback task, the fallback selector module137 may also look up the level of urgency of the trigger. The fallbackselector module 137 may then determine when the fallback task should beexecuted based on the level of urgency of the trigger as in the examplesabove.

FIG. 10 is an example flow diagram 1000 in accordance with some of theaspects described above that may be performed by one or more computingdevices such as one or more server computing devices 210. However, thefeatures described may be implemented by any of a variety of systemshaving different configurations. In addition, the operations involved inthe methods need not be performed in the precise order described.Rather, various operations may be handled in a different order orsimultaneously, and operations may be added or omitted.

At block 1010, at least one fallback task may be received in associationwith a request for a primary task and at least one trigger of eachfallback task. At block 1020, a first set of instructions may be sent toone or more self-driving systems to execute the primary task. At block1030, status updates may be received from the self-driving systems. Atblock 1040, based at least in part on the status updates, it may bedetermined that a set of conditions of a trigger is satisfied. At block1050, based on the fallback task associated with the trigger, a secondset of instructions to one or more self-driving systems may be sent.

The features described above may provide for a comprehensive system offallback tasks in an autonomous vehicle. This, in turn, may ensure thatthe vehicle is able to take appropriate steps in various situations inwhich operation of the vehicle is compromised to some degree withoutinput from a human operator or in the event that the vehicle's computingdevice is unable to connect with the one or more server computingdevices. In particular, certain fallback tasks allow for a vehicle thatis still capable of driving a distance to drive autonomously to aspecified or determined location. The location may be a place where thevehicle may be restored to full operational capacity. Setting fallbacktasks as described above makes it much less likely that the vehiclewould get stuck in a cell dead zone. As a result, time, money, andmanpower that would have been spent going to retrieve the vehicle aresaved.

The features described above also may provide for a way to determinewhen a fallback task should be executed based on the whether the triggeraffects the operation of the vehicle in a major way or is urgent for anyother reason. That way, tasks are not unnecessarily interrupted, but areinterrupted when the problem with the vehicle is urgent enough torequire immediate attention. Sending one or more fallback tasks alongwith each task request and hardcoding a base location may make it lesslikely for vehicles to be left stranded in an unknown location. Also,vehicles may get serviced when they need it, and avoid makingunnecessary trips for maintenance or not receiving attention whenneeded. These features therefore provide a simple and effective way tomaintain and track a single autonomous vehicle or a fleet of autonomousvehicles.

In addition, the features described above may provide for a system thatmay operate without continual connection to a remote server. Once tasksare received, the system of the autonomous vehicle disclosed may executepassenger-related, non-passenger, and fallback tasks while not incommunication with a management system. The vehicle is free to executetasks where there may not be a strong connection to the remote server.Tasks may be executed in quick succession without the need to check inwith the remove server. These features allow a system managingautonomous vehicles to perform other tasks instead of micromanaging whatevery vehicle is doing at every moment.

Although the invention herein has been described with reference toparticular embodiments, it is to be understood that these embodimentsare merely illustrative of the principles and applications of thepresent invention. It is therefore to be understood that numerousmodifications may be made to the illustrative embodiments and that otherarrangements may be devised without departing from the spirit and scopeof the present invention as defined by the appended claims.

1. A method comprising: sending, by one or more processors of a vehicle,at least one status report associated with the vehicle; receiving, bythe one or more processors, instructions for a plurality of fallbacktasks in response to the at least one status report, the instructionsidentifying a level of urgency for each of the plurality of fallbacktasks; determining, by the one or more processors, whether one or moreconditions of a trigger corresponding to a given one of the plurality offallback tasks have been met; and after the one or more conditions ofthe trigger are determined to have been met, controlling, by the one ormore processors, the vehicle to execute the given one of the pluralityof fallback tasks based on the level of urgency for the given one of theplurality of fallback tasks.
 2. The method of claim 1, wherein the levelof urgency is related to how quickly the given one of the plurality offallback tasks corresponding to the trigger is executed after the one ormore conditions of the trigger have been met.
 3. The method of claim 2,wherein the level of urgency is designated as high, intermediate or low.4. The method of claim 1, wherein each one of the plurality of fallbacktasks is associated with a corresponding trigger.
 5. The method of claim4, wherein the instructions include a mapping of each correspondingtrigger to the one of the plurality of fallback tasks.
 6. The method ofclaim 1, wherein the given one of the plurality of fallback tasksinvolves the vehicle driving to a location to refuel the vehicle.
 7. Themethod of claim 1, wherein the one or more conditions of the triggerinclude a task queue of the vehicle being empty.
 8. The method of claim1, wherein the one or more conditions of the trigger include reaching aset interval before a time when maintenance is scheduled to be performedon the vehicle.
 9. The method of claim 1, wherein the one or moreconditions of the trigger include reaching a set interval before a timewhen maintenance is scheduled to be performed on the vehicle.
 10. Acomputing device comprising: a memory configured to store informationrelated to a plurality of fallback tasks for a vehicle; and one or moreprocessors configured to: send at least one status report associatedwith the vehicle; receive instructions for a plurality of fallback tasksin response to the at least one status report, the instructionsidentifying a level of urgency for each of the plurality of fallbacktasks; determine whether one or more conditions of a triggercorresponding to a given one of the plurality of fallback tasks havebeen met; and after the one or more conditions of the trigger aredetermined to have been met, control the vehicle to execute the givenone of the plurality of fallback tasks based on the level of urgency forthe given one of the plurality of fallback tasks.
 11. The computingdevice of claim 10, wherein the level of urgency is related to howquickly the given one of the plurality of fallback tasks correspondingto the trigger is executed after the one or more conditions of thetrigger have been met.
 12. The computing device of claim 11, wherein thelevel of urgency is designated as high, intermediate or low.
 13. Thecomputing device of claim 10, wherein each one of the plurality offallback tasks is associated with a corresponding trigger.
 14. Thecomputing device of claim 13, wherein the instructions include a mappingof each corresponding trigger to the one of the plurality of fallbacktasks.
 15. The computing device of claim 10, wherein the given one ofthe plurality of fallback tasks involves the vehicle driving to alocation to refuel the vehicle.
 16. The computing device of claim 10,wherein the one or more conditions of the trigger include a task queueof the vehicle being empty.
 17. The computing device of claim 10,wherein the one or more conditions of the trigger include reaching a setinterval before a time when maintenance is scheduled to be performed onthe vehicle.
 18. The computing device of claim 10, wherein the one ormore conditions of the trigger include reaching a set interval before atime when maintenance is scheduled to be performed on the vehicle.
 19. Avehicle comprising: a memory configured to store information related toa plurality of fallback tasks for the vehicle; and one or moreprocessors configured to: send at least one status report associatedwith the vehicle; receive instructions for a plurality of fallback tasksin response to the at least one status report, the instructionsidentifying a level of urgency for each of the plurality of fallbacktasks; determine whether one or more conditions of a triggercorresponding to a given one of the plurality of fallback tasks havebeen met; and after the one or more conditions of the trigger aredetermined to have been met, control the vehicle to execute the givenone of the plurality of fallback tasks based on the level of urgency forthe given one of the plurality of fallback tasks.
 20. The vehicle ofclaim 19, wherein the level of urgency is related to how quickly thegiven one of the plurality of fallback tasks corresponding to thetrigger is executed after the one or more conditions of the trigger havebeen met.
 21. The vehicle of claim 20, wherein the level of urgency isdesignated as high, intermediate or low.